# US 2018/0025508 A1 · Apparatus and method for generating around view

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- Number: US 2018/0025508 A1
- Document ID: US20180025508A1
- Status: Published application
- Kind: A1
- Application number: 15/638,165
- Filed: 2017-06-29
- Published: 2018-01-25
- Earliest claimed: 2016-07-25
- Assignees: Hyundai Mobis Co., Ltd.
- Applicants: Hyundai Mobis Co., Ltd.
- Inventors: Seong Soo LEE
- Web page: https://patentgrep.com/patent/US20180025508A1

## CPC

- G06T 3/4038: Image mosaicing, e.g. composing plane images from plane sub-images
- G06T 7/85: {Stereo camera calibration}
- G06T 3/00: Geometric image transformations in the plane of the image
- G06T 7/73: using feature-based methods
- H04N 7/181: {for receiving images from a plurality of remote sources}
- B60R 2300/105: using multiple cameras
- B60R 2300/303: using joined images, e.g. multiple camera images
- B60R 2300/8026: in addition to a rear-view mirror system
- B60R 2300/8066: for monitoring rearward traffic
- G06T 2207/30244: Camera pose
- G06T 2207/30256: Lane; Road marking
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR

## Abstract

Provided is an apparatus for generating an around view. The apparatus includes a capture unit configured to capture images in front of, behind, to the left of, and to the right of a vehicle using cameras, a mask generation unit configured to set a region ranging a predetermined distance from the vehicle in the captured image as a mask region, a feature point extraction unit configured to extract ground feature points from the mask region of each of the captured images; a camera attitude angle estimation unit configured to generate a rotation matrix including a rotation angle of the camera using the extracted feature points; and an around view generation unit configured to rotationally convert the captured images to a top-view image using the rotation matrix.

## Claims

### Claim 1

An apparatus for generating an around view, the apparatus comprising:
a capture unit configured to capture images in front of, behind, to the left of, and to the right of a vehicle using a camera;
a mask generation unit configured to set a region ranging a predetermined distance from the vehicle in each of the captured images as a mask region;
a feature point extraction unit configured to extract ground feature points from the mask region of each of the captured images;
a camera attitude angle estimation unit configured to generate a rotation matrix including a rotation angle of the camera using the extracted feature points; and
an around view generation unit configured to rotationally convert the captured images to a top-view image using the rotation matrix.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein the mask generation unit detects a traffic line in each of the captured images and sets a region between the detected traffic line and the vehicle as the mask region.

### Claim 3 (depends on 1)

The apparatus of claim 1, wherein the mask generation unit detects a traffic line in the captured images, generates a virtual traffic line with a predetermined width in each of the captured images when a traffic line is not detected, and sets a region between the generated virtual traffic line and the vehicle as the mask region.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein:
the camera attitude angle estimation unit calculates a slope of a ground surface using a rotation matrix indicating the attitude angle of the camera and a rotation matrix calculated using the feature points extracted from the captured images, the rotation matrices being prestored; and
the mask generation unit is configured to set an entirety of each of the captured images as the mask region when the slope of the ground surface is less than or equal to a predetermined threshold value.

### Claim 5

A method of generating an around view which is performed by an apparatus that includes one or more processors and generates an around view, the method comprising:
acquiring images by performing capturing in four directions, i.e., in front of, behind, to a left side of, and to a right side, of a vehicle using a camera;
setting a region ranging a predetermined distance from the vehicle in each of the acquired images as a mask region;
extracting ground feature points from the mask region;
generating a rotation matrix including a rotation angle of the camera using the extracted feature points; and
rotationally converting the images captured in the four directions to a top-view image using the rotation matrix.

### Claim 6 (depends on 5)

The method of claim 5, wherein the setting comprises detecting a traffic line in each of the captured images and setting a region between the detected traffic line and the vehicle as the mask region.

### Claim 7 (depends on 5)

The method of claim 5, wherein the setting comprises detecting a traffic line in each of the captured images, generating a virtual traffic line with a predetermined width in each of the captured images when a traffic line is not detected, and setting a region between the generated virtual traffic line and the vehicle as the mask region.

### Claim 8 (depends on 5)

The method of claim 5, wherein:
the generating of a rotation matrix comprises calculating a slope of a ground surface using a rotation matrix indicating the attitude angle of the camera and a rotation matrix calculated using the feature points extracted from the captured images, the rotation matrices being prestored; and
the setting comprises setting an entirety of each of the captured images as the mask region when the ground slope is less than or equal to a predetermined threshold value.